CN110595552A - Method for non-magnetic acquisition of displacement and angular velocity of planar winding coil - Google Patents
Method for non-magnetic acquisition of displacement and angular velocity of planar winding coil Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 14
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- 238000004804 winding Methods 0.000 title claims abstract description 9
- 238000013016 damping Methods 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000004458 analytical method Methods 0.000 claims abstract description 10
- 238000005070 sampling Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000004907 flux Effects 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 7
- 238000010992 reflux Methods 0.000 description 7
- 230000007547 defect Effects 0.000 description 4
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- 230000009191 jumping Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- WOWHHFRSBJGXCM-UHFFFAOYSA-M cetyltrimethylammonium chloride Chemical compound [Cl-].CCCCCCCCCCCCCCCC[N+](C)(C)C WOWHHFRSBJGXCM-UHFFFAOYSA-M 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/56—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using electric or magnetic effects
- G01F1/58—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using electric or magnetic effects by electromagnetic flowmeters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/56—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using electric or magnetic effects
- G01F1/58—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using electric or magnetic effects by electromagnetic flowmeters
- G01F1/586—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using electric or magnetic effects by electromagnetic flowmeters constructions of coils, magnetic circuits, accessories therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
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Abstract
The invention discloses a method for non-magnetically acquiring displacement and angular velocity by a planar winding coil, which belongs to the technical field of displacement and angular velocity data acquisition and specifically comprises the following steps: (1) comparing the induced electromotive force levels of coils 1 and 9, 2 and 10, 3 and 11, 4 and 12, 5 and 13, 6 and 14, 7 and 15, 8 and 16 in the same color group; (2) taking coils No. 1, 2, 3, 4, 5, 6, 7 and 8 just in a damping area as an initial state, and then rotating in a positive flow anticlockwise direction for analysis; (3) the positive flow is sequentially Arabic numerals increased from FSM1 to FSM32 and then completes one turn from FSM32 to FSM 1; the reverse flow is realized by reducing Arabic numbers from FSM32 to FSM1, and then completing a reverse flow circle from FSM1 to FSM 32; (4) angular velocity detection analysis: the rotational angular velocity of the target detection object is calculated. The invention detects the rotary displacement and angular speed of the detected target by using the induced electromotive force variation difference caused by the magnetic flux variation.
Description
Technical Field
The invention relates to the technical field of displacement and angular velocity data acquisition, in particular to a method for acquiring displacement and angular velocity of a planar winding coil in a non-magnetic mode.
Background
In the aspect of water meter data acquisition, magnetic acquisition is mainly carried out by using photoelectric direct reading, reed pipes, Hall devices and the like, the influence of surrounding environment is large, and the rising of a non-magnetic acquisition technology arouses great interest in the industry.
The photoelectric direct reading has the defects that the reading is influenced by the water quality in a wet meter; the reed switch and the Hall device have the defects that a base meter is slightly changed, the base meter is easily interfered by environment and magnet, water is easily stolen, and impurities are easily accumulated to block the meter after a long time in a wet meter; the pin type non-magnetic acquisition has the defects of difficult production, high large-scale mass production cost and low yield, and each table is delivered out of the factory correspondingly and needs to be calibrated; the existing plane winding coil has the defect of non-magnetic acquisition that displacement is easy to deviate and angular speed cannot be detected.
Disclosure of Invention
Aiming at the problems in the background technology, the invention provides a method for collecting displacement and angular speed of a planar winding coil without magnetism.
In order to achieve the purpose, the invention provides the following technical scheme:
1. a method for non-magnetic acquisition of displacement and angular velocity of a planar winding coil is characterized by comprising the following steps: the method specifically comprises the following steps:
(1) comparing the induced electromotive force levels of coils 1 and 9, 2 and 10, 3 and 11, 4 and 12, 5 and 13, 6 and 14, 7 and 15, 8 and 16 in the same color group;
(2) taking coils No. 1, 2, 3, 4, 5, 6, 7 and 8 just in a damping area as an initial state, and then rotating in a positive flow anticlockwise direction for analysis;
(3) the positive flow is sequentially Arabic numerals increased from FSM1 to FSM32 and then completes one turn from FSM32 to FSM 1; the reverse flow is realized by reducing Arabic numbers from FSM32 to FSM1, and then completing a reverse flow circle from FSM1 to FSM 32;
(4) angular velocity detection analysis: and monitoring the switching time of adjacent state machines by a high-precision timer, and calculating the rotation angular velocity of the target detection object according to an interpolation sampling formula.
Further, the sampling rate in the step (4) is higher than 2 times of the rotation speed of the detected device.
Compared with the prior art, the invention has the beneficial effects that:
the method can simultaneously acquire displacement and angular velocity data.
Drawings
FIG. 1 is a block computation graph;
FIG. 2 is a schematic diagram of a device under test;
fig. 3 is a switching diagram of the forward flow reverse flow state machine.
Detailed Description
The invention is explained in more detail below with reference to exemplary embodiments and the accompanying drawings. The following examples are provided only for illustrating the present invention and are not intended to limit the scope of the present invention.
Example (b):
for analysis with reference to fig. 1 and 2, the black portion in fig. 2 is a magnetic flux sensitive material, and the gray portion is a magnetic flux insensitive material. A method for acquiring displacement and angular velocity of a planar winding coil without magnetism calculates flow compensation differences of positive flow, reverse flow, angular velocity and positive and reverse flow switching according to comparison values of induced electromotive forces of coils 1 and 9, 2 and 10, 3 and 11, 4 and 12, 5 and 13, 6 and 14, 7 and 15, 8 and 16, and specifically comprises the following steps:
(1) the same color is a group; a: (1, 5, 9, 13); b: (2, 6, 10, 14); c: (3, 7, 11, 15); d: (4; 8; 12; 16);
when a1 is compared with 1 and 9, and when a1 is compared with 1, the induced electromotive force of the receiving coil No. 1 is greater than that of the receiving coil No. 9; when a1 is equal to 0, the induced electromotive force of the receiving coil No. 1 is equal to that of the receiving coil No. 9; when A1 is-1, the induced electromotive force of the No. 1 receiving coil is smaller than that of the No. 9 receiving coil; when a2 is equal to [ 5, 13 ], the induced electromotive force of the receiver coil No. 5 is greater than that of the receiver coil No. 13 when a2 is equal to 1; when a2 is equal to 0, the induced electromotive force of the receiver coil No. 5 is equal to that of the receiver coil No. 13; when A2 is-1, the induced electromotive force of the No. 5 receiving coil is smaller than that of the No. 13 receiving coil;
when B1 is compared with [ 2, 10 ], and B1 is compared with 1, the induced electromotive force of the receiving coil No. 2 is greater than that of the receiving coil No. 10; when B1 is equal to 0, the induced electromotive force of the receiving coil No. 2 is equal to that of the receiving coil No. 10; when B1 is-1, the induced electromotive force of the No. 2 receiving coil is less than that of the No. 10 receiving coil; when B2 is equal to [ 6, 14 ], and B2 is equal to 1, the induced electromotive force of the receiving coil No. 6 is greater than that of the receiving coil No. 14; when B2 is equal to 0, the induced electromotive force of the receiver coil No. 6 is equal to that of the receiver coil No. 14; when B2 is-1, the induced electromotive force of the No. 6 receiving coil is smaller than that of the No. 14 receiving coil;
when C1 is compared with [ 3, 11 ], and when C1 is equal to 1, the induced electromotive force of the receiving coil No. 3 is greater than that of the receiving coil No. 11; when C1 is equal to 0, the induced electromotive force of the receiving coil No. 3 is equal to that of the receiving coil No. 11; when C1 is-1, the induced electromotive force of the No. 3 receiving coil is smaller than that of the No. 11 receiving coil; when C2 is equal to [ 7, 15 ], and C2 is equal to 1, the induced electromotive force of the No. 7 receiving coil is greater than that of the No. 15 receiving coil; when C2 is equal to 0, the induced electromotive force of the receiver coil No. 7 is equal to that of the receiver coil No. 15; when C2 is-1, the induced electromotive force of the No. 7 receiving coil is smaller than that of the No. 15 receiving coil;
when the D1 is compared with [ 4, 12 ], and when the D1 is equal to 1, the induced electromotive force of the receiving coil No. 4 is greater than that of the receiving coil No. 12; when D1 is equal to 0, the induced electromotive force of the receiving coil No. 4 is equal to the induced electromotive force of the receiving coil No. 12; when D1 is-1, the induced electromotive force of the No. 4 receiving coil is smaller than that of the No. 12 receiving coil; when the D2 is equal to [ 8, 16 ], the induced electromotive force of the No. 8 receiving coil is greater than that of the No. 16 receiving coil when the D2 is equal to 1; when D2 is equal to 0, the induced electromotive force of the No. 8 receiving coil is equal to the induced electromotive force of the No. 16 receiving coil; when D2 is-1, the induced electromotive force of the No. 8 receiving coil is smaller than that of the No. 16 receiving coil;
(2) starting analysis with coils No. 1, 2, 3, 4, 5, 6, 7, 8 just in the damping zone as the initial state, and then rotating analysis in the counter-clockwise direction with positive flow;
FSM 1: 1/2/3/4/5/6/7/8 in the damping zone, a 1-1, a 2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 2: 1/2/3/4/5/6/7 in the damping zone, 16 and 8 are half in the damping zone, a 1-1, a 2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-0;
FSM 3: 16/1/2/3/4/5/6/7 in the damping zone, a 1-1, a 2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1:
FSM 4: 16/1/2/3/4/5/6 in the damping zone, half of each of 15 and 7 in the damping zone, a 1-1, a 2-1, B1-1, B2-1, C1-1, C2-0, D1-1, D2-1;
FSM 5: 15/16/1/2/3/4/5/6 in the damping zone, a 1-1, a 2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 6: 15/16/1/2/3/4/5 in the damping zone, 14 and 6 are half in the damping zone, a 1-1, a 2-1, B1-1, B2-0, C1-1, C2-1, D1-1, D2-1;
FSM 7: 14/15/16/1/2/3/4/5 in the damping area, A1-1, A2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 8: 14/15/16/1/2/3/4 in the damping zone, 13 and 5 are respectively half in the damping zone, a 1-1, a 2-0, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 9: 13/14/15/16/1/2/3/4 in the damping area, A1-1, A2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 10: 13/14/15/16/1/2/3 in the damping zone, half of each of 12 and 4 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 0, D2 ═ 1;
FSM 11: 12/13/14/15/16/1/2/3 in the damping area, A1-1, A2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 12: 12/13/14/15/16/1/2 in the damping zone, half of each of 11 and 3 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 0, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 13: 11/12/13/14/15/16/1/2 in the damping area, A1-1, A2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 14: 11/12/13/14/15/16/1 in the damping zone, 10 and 2 are half in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 0, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 15: 10/11/12/13/14/15/16/1 in damping area, A1-1, A2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 16: 10/11/12/13/14/15/16 in the damping zone, 9 and 1 are respectively half in the damping zone, A1-0, A2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 17: 9/10/11/12/13/14/15/16 in damping area, A1 ═ -1, A2 ═ 1, B1 ═ -1, B2 ═ -1, C1 ═ -1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 18: 9/10/11/12/13/14/15 in the damping zone, 8 and 16 in the damping zone, a1 ═ -1, a2 ═ -1, B1 ═ -1, B2 ═ -1, C1 ═ -1, C2 ═ 1, D1 ═ 1, D2 ═ 0;
FSM 19: 8/9/10/11/12/13/14/15 in damping area, A1 ═ -1, A2 ═ 1, B1 ═ -1, B2 ═ -1, C1 ═ -1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 20: 8/9/10/11/12/13/14 in the damping zone, half of each of 7 and 15 in the damping zone, a1 ═ -1, a2 ═ -1, B1 ═ -1, B2 ═ -1, C1 ═ 1, C2 ═ 0, D1 ═ 1, D2 ═ 1;
FSM 21: 7/8/9/10/11/12/13/14, in the damping zone, a1 ═ -1, a2 ═ -1, B1 ═ -1, B2 ═ -1, C1 ═ 1, C2 ═ 1, D1 ═ 1, and D2 ═ 1;
FSM 22: 7/8/9/10/11/12/13 in the damping zone, 6 and 14 in the damping zone, a1 ═ -1, a2 ═ -1, B1 ═ -1, B2 ═ 0, C1 ═ -1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 23: 6/7/8/9/10/11/12/13 in the damping area, A1-1, A2-1, B1-1, B2-1, C1-1, C2-1, D1-1, D2-1;
FSM 24: 6/7/8/9/10/11/12 in the damping zone, half of each of 5 and 13 in the damping zone; a1 ═ 1, a2 ═ 0, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 25: 5/6/7/8/9/10/11/12 in the damping zone; a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 26: 5/6/7/8/9/10/11 in the damping zone, half of each of 4 and 12 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 0, D2 ═ 1;
FSM 27: 4/5/6/7/8/9/10/11 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, and D2 ═ 1;
FSM 28: 4/5/6/7/8/9/10 in the damping zone, half of each of 3 and 11 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 0, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 29: 3/4/5/6/7/8/9/10 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, and D2 ═ 1;
FSM 30: 3/4/5/6/7/8/9 in the damping zone, half of each of 2 and 10 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 0, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
FSM 31: 2/3/4/5/6/7/8/9 in the damping zone, a1 ═ 1, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, and D2 ═ 1;
FSM 32: 2/3/4/5/6/7/8 in the damping zone, half of each of 1 and 9 in the damping zone, a1 ═ 0, a2 ═ 1, B1 ═ 1, B2 ═ 1, C1 ═ 1, C2 ═ 1, D1 ═ 1, D2 ═ 1;
(3) as shown in fig. 3, there are 32 state machines, and the positive flow is sequentially incremented from FSM1 to FSM32 by arabic numbers and then completes one turn from FSM32 to FSM 1; the reverse flow is realized by reducing Arabic numbers from FSM32 to FSM1, and then completing a reverse flow circle from FSM1 to FSM 32;
(4) angular velocity detection analysis: by monitoring the switching time of adjacent state machines through a high-precision timer, the rotation angular velocity of a target detection object can be calculated:
t is the adjacent state machine switching time.
According to the interpolation sampling formula, in order to ensure the accuracy, the sampling rate must be higher than 2 times of the rotation speed of the detected device, so that the angular speed can be accurately measured.
Algorithm implementation
First, jitter cancellation and flow direction switching detection
The measured target can make transition and jump back and forth between adjacent state machines due to inertial motion, flow direction switching, external interference and the like. The algorithm adopts the window sliding principle to calculate. Since there are 32 state machines, the maximum sliding window is 32. Jumping from the current sample FSM1 to the next sample FSM2, the sliding window size is 2-1 to 1. Jumping from the current sample FSM2 to the next sample FSM9, the sliding window size is 9-2-7. Then a jump is made from the FSM9 of the current sample to the FSM2 of the next sample, as can be seen from fig. 3, FSM9 to FSM2 goes through FSM10-FSM32, and then from FSM32, FSM1 to FSM2, with a sliding window size of 32-9+1+ 25-32- (9-2).
The sampling rate ensures that each state machine will be sampled in the case of maximum traffic.
Since each state machine is sampled, two consecutive samples, the sliding window size in the case of a positive flow should be 1 and the sliding window size for a reverse flow should be 32.
The state machines are grouped. FSM1-FSM16 are in a group named s _ sample _ FSM _ low 16; FSM17-FSM32 are in a group named s _ sample _ over 16; the state machine falls into FSM1-FSM16, and shakes s _ sample _ low16 in FSM1-FSM16 to 1, and does not do other processing; the state machine falls within FSM17-FSM32 and dithers s _ sample _ over16 within FSM17-FSM32 without further processing;
in the positive flow state, continuously detecting that the sliding window is more than or equal to 24 for 2 times, and entering a reverse flow state;
in the reverse flow state, the sliding window is continuously detected for 2 times and is less than or equal to 8, and the flow enters the positive flow state.
Second, positive flow detection algorithm principle
The state machine is checked and discarded if the state machine [ a1, a2, B1, B2, C1, C2, D1, D2] is [0, 0, 0, 0, 0, 0, 0, 0 ]. Determining whether the state machine is at s _ sample _ low16 or s _ sample _ over16, if at s _ sample _ low16, then s _ sample _ low16 is 1; if at s _ sample _ over16, then s _ sample _ over16 is 1; if the current state machine falls into s _ sample _ low16 and s _ sample _ over16 is 1, then the positive stream is increased by 1 metric unit, setting s _ sample _ over16 to 0; otherwise, no processing is performed. The next sampling period is entered.
Third, principle of reflux quantity detection algorithm
The state machine is checked and discarded if the state machine [ a1, a2, B1, B2, C1, C2, D1, D2] is [0, 0, 0, 0, 0, 0, 0, 0 ]. Determining whether the state machine is at s _ sample _ low16 or s _ sample _ over16, if at s _ sample _ low16, then s _ sample _ low16 is 1; if at s _ sample _ over16, then s _ sample _ over16 is 1; if the current state machine falls into s _ sample _ over16 and s _ sample _ low16 is equal to 1, then the reflux is increased by 1 measurement unit, and s _ sample _ low16 is set to 0; otherwise, no processing is performed. The next sampling period is entered.
Flow direction switching detection and compensation algorithm principle
The state machine is checked and discarded if the state machine [ a1, a2, B1, B2, C1, C2, D1, D2] is [0, 0, 0, 0, 0, 0, 0, 0 ]. Judging whether the jump window of the state machine is more than or equal to 24, if so, finding a first reverse flow message (note that in the reverse flow, if the window is found to be less than 8, the message is the first reverse flow message of the forward flow); enter en _ Normal _ First _ Detect _ invite/en _ invite _ First _ Detect _ Normal state. The next sampling period is entered.
Checking the state machine, and discarding if the state machine is [ A1, A2, B1, B2, C1, C2, D1, D2] is [0, 0, 0, 0, 0, 0, 0 ]; judging whether the jump window of the state machine is more than or equal to 24, if so, finding a second backflow state machine (note that when in backflow, if the jump window is found to be less than or equal to 8, the second backflow state machine is the second backflow state machine of the backflow, namely the forward flow); entering an en _ Normal _ Flow/en _ insert _ Flow state; i.e. a flow direction switch is performed. Entering a reverse Flow en _ insert _ Flow state from a positive Flow en _ Normal _ Flow; or a positive Flow en _ Normal _ Flow state is entered by a reverse Flow en _ insert _ Flow.
And confirming the entering direction switching point and entering a compensation algorithm. Since we do not perform flow calculation when the reflux state machine is found for the first time, we need to make up once (flow compensation) when the second reflux state machine comes. If the first time a reflux state machine is found and the second time a forward state machine is found, it is jittered, then it is also true that no flow calculation is performed when a reflux state machine is found for the first time. We only need to make the compensation calculation for 2 consecutive reflux state machines.
When entering a compensation algorithm, 3 state machines are reserved, and compensation calculation is carried out according to the three state machines (time sequence); fsm _ index _ Normal _ Flow, fsm _ index _ Normal _ First _ Detect _ invite, fsm _ index _ Normal _ Second _ Detect _ invite); or [ fsm _ index _ Invert _ Flow, fsm _ index _ Invert _ First _ Detect _ Normal, fsm _ index _ Invert _ Second _ Detect _ Normal ];
according to the forward and reverse flow calculation method of the second and third, if the three state machines change from the forward flow to the reverse flow, the reverse flow number is increased by one turn every time the state machines pass through the FSM 1; similarly, when changing from reverse flow to positive flow, the number of positive flows increases by one turn for each pass through FSM 32. Note that: when the last state machine FSM _ index _ Normal _ Second _ Detect _ invoke is equal to FSM1 or FSM _ index _ invoke _ Second _ Detect _ Normal is equal to FSM32, the number of turns is not increased, and to prevent jitter, the next state machine is required to wait for a decision. The next sample calculation cycle is performed.
According to the method and the algorithm, in the grouping calculation, 32 state machines of 16 coils; 8 coils and 16 state machines; the same applies for 4 coils and 8 state machines.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (2)
1. A method for non-magnetic acquisition of displacement and angular velocity of a planar winding coil is characterized by comprising the following steps: the method specifically comprises the following steps:
(1) comparing the induced electromotive force levels of coils 1 and 9, 2 and 10, 3 and 11, 4 and 12, 5 and 13, 6 and 14, 7 and 15, 8 and 16 in the same color group;
(2) taking coils No. 1, 2, 3, 4, 5, 6, 7 and 8 just in a damping area as an initial state, and then rotating in a positive flow anticlockwise direction for analysis;
(3) the positive flow is sequentially Arabic numerals increased from FSM1 to FSM32 and then completes one turn from FSM32 to FSM 1; the reverse flow is realized by reducing Arabic numbers from FSM32 to FSM1, and then completing a reverse flow circle from FSM1 to FSM 32;
(4) angular velocity detection analysis: and monitoring the switching time of adjacent state machines by a high-precision timer, and calculating the rotation angular velocity of the target detection object according to an interpolation sampling formula.
2. The method for non-magnetic acquisition of displacement and angular velocity of a planar wound coil as claimed in claim 1, wherein: and (4) the sampling rate in the step (4) is higher than 2 times of the rotation speed of the detected equipment.
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